Search results for: Vector Control and Pitch Control

Authors: Muhammad Amjad Sohail, Rizwan Ullah

Abstract:

This research paper presents the CFD analysis of oscillating airfoil during pitch cycle. Unsteady subsonic flow is simulated for pitching airfoil at Mach number 0.283 and Reynolds number 3.45 millions. Turbulent effects are also considered for this study by using K-ω SST turbulent model. Two-dimensional unsteady compressible Navier-Stokes code including two-equation turbulence model and PISO pressure velocity coupling is used. Pressure based implicit solver with first order implicit unsteady formulation is used. The simulated pitch cycle results are compared with the available experimental data. The results have a good agreement with the experimental data. Aerodynamic characteristics during pitch cycles have been studied and validated.

Keywords: Angle of attack, Centre of pressure, subsonic flow, pitching moment coefficient, turbulence mode

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2392

Authors: C. Bruni, F. Delli Priscoli, G. Koch, I. Marchetti

Abstract:

The Connection Admission Control (CAC) problem is formulated in this paper as a discrete time optimal control problem. The control variables account for the acceptance/ rejection of new connections and forced dropping of in-progress connections. These variables are constrained to meet suitable conditions which account for the QoS requirements (Link Availability, Blocking Probability, Dropping Probability). The performance index evaluates the total throughput. At each discrete time, the problem is solved as an integer-valued linear programming one. The proposed procedure was successfully tested against suitably simulated data.

Keywords: Connection Admission Control, Optimal Control, Integer valued Linear Programming, Quality of Service Requirements, Robust Control.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1261

Authors: Toshinori Nawata

Abstract:

In this paper we consider a nonlinear feedback control called augmented automatic choosing control (AACC) for nonlinear systems with constrained input using weighted gradient optimization automatic choosing functions. Constant term which arises from linearization of a given nonlinear system is treated as a coefficient of a stable zero dynamics. Parameters of the control are suboptimally selected by maximizing the stable region in the sense of Lyapunov with the aid of a genetic algorithm. This approach is applied to a field excitation control problem of power system to demonstrate the splendidness of the AACC. Simulation results show that the new controller can improve performance remarkably well.

Keywords: Augmented automatic choosing control, nonlinear control, genetic algorithm, zero dynamics.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1842

Authors: Jasna Dragosavac, Žarko Janda, J.V. Milanović, Dušan Arnautović

Abstract:

This paper discusses coordinated reactive power - voltage (Q-V) control in a multi machine steam power plant. The drawbacks of manual Q-V control are briefly listed, and the design requirements for coordinated Q-V controller are specified. Theoretical background and mathematical model of the new controller are presented next followed by validation of developed Matlab/Simulink model through comparison with recorded responses in real steam power plant and description of practical realisation of the controller. Finally, the performance of commissioned controller is illustrated on several examples of coordinated Q-V control in real steam power plant and compared with manual control.

Keywords: Coordinated Voltage Control, Power Plant Control, Reactive Power Control, Sensitivity Matrix

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2185

Authors: Mohammad Jafarifar

Abstract:

Multiphase Induction Machine (IM) is normally controlled using rotor field oriented vector control. Under phase(s) loss, the machine currents can be optimally controlled to satisfy certain optimization criteria. In this paper we discuss the performance of double manifold sliding mode observer (DM-SMO) in Sensorless control of multiphase induction machine under unsymmetrical condition (one phase loss). This observer is developed using the IM model in the stationary reference frame. DM-SMO is constructed by adding extra feedback term to conventional single mode sliding mode observer (SM-SMO) which proposed in many literature. This leads to a fully convergent observer that also yields an accurate estimate of the speed and stator currents. It will be shown by the simulation results that the estimated speed and currents by the method are very well and error between real and estimated quantities is negligible. Also parameter sensitivity analysis shows that this method is rather robust against parameter variation.

Keywords: Multiphase induction machine, field oriented control, sliding mode, unsymmetrical condition, manifold.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1816

Authors: M. Soyaslan, A. Fenercioglu, C. Kozkurt

Abstract:

Automated storage and retrieval systems (AS/RS) become frequently used systems in warehouses. There has been a transition from human based forklift applications to fast and safe AS/RS applications in firm-s warehouse systems. In this study, basic components and automation systems of the AS/RS are examined. Proposed system's automation components and their tasks in the system control algorithm were stated. According to this control algorithm the control system structure was obtained.

Keywords: AS/RS, Automatic Storage and Retrieval System, Warehouse Control System

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 3523

Authors: Markus Reichhartinger, Martin Horn

Abstract:

In this paper, the position control of an electronic throttle actuator is outlined. The dynamic behavior of the actuator is described with the help of an uncertain plant model. This motivates the controller design based on the ideas of higher-order slidingmodes. As a consequence anti-chattering techniques can be omitted. It is shown that the same concept is applicable to estimate unmeasureable signals. The control law and the observer are implemented on an electronic control unit. Results achieved by numerical simulations and real world experiments are presented and discussed.

Keywords: higher order sliding-mode, throttle actuator, electromechanicalsystem, robust and nonlinear control.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2013

Authors: Wai Yee Lin, Masahiro Yamao

Abstract:

Food control measures are critical in fostering food safety management of a nation. However, no academic study has been undertaken to assess the food control system of Myanmar up to now. The objective of this research paper was to assess the food control system with in depth examination of five key components using desktop analysis and short survey from related food safety program organizations including regulators and inspectors. Study showed that the existing food control system is conventional, mainly focusing on primary health care approach while relying on reactive measures. The achievements of food control work have been limited to a certain extent due to insufficienttechnical capacity that is needed to upgrade staffs, laboratory equipment and technical assistance etc. associated with various sectors. Assessing food control measures is the first step in the integration of food safety management, this paper could assist policy makers in providing information for enhancing the safety and quality of food produced and consumed in Myanmar.

Keywords: Food Control, Food Policy, Legislation, Management

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 4053

Authors: S. Anbu, N. Jaya

Abstract:

Nonlinearity is the inherent characteristics of all the industrial processes. The Classical control approach used for a generation often fails to show better results particularly for non-linear systems and in the systems, whose parameters changes over a period of time for a variety of reasons. Alternatively, adaptive control strategies provide very good performance. The Model Reference Adaptive Control based on Lyapunov stability analysis and classical PI control strategies are designed and evaluated for Continuous Stirred Tank Reactor, which shows appreciable dynamic nonlinear characteristics.

Keywords: Adaptive Control, CSTR, Lyapunov stability, MRAS, PID.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 4464

Authors: Yash Pal, A.Swarup, Bhim Singh

Abstract:

A new topology of unified power quality conditioner (UPQC) is proposed for different power quality (PQ) improvement in a three-phase four-wire (3P-4W) distribution system. For neutral current mitigation, a star-hexagon transformer is connected in shunt near the load along with three-leg voltage source inverters (VSIs) based UPQC. For the mitigation of source neutral current, the uses of passive elements are advantageous over the active compensation due to ruggedness and less complexity of control. In addition to this, by connecting a star-hexagon transformer for neutral current mitigation the over all rating of the UPQC is reduced. The performance of the proposed topology of 3P-4W UPQC is evaluated for power-factor correction, load balancing, neutral current mitigation and mitigation of voltage and currents harmonics. A simple control algorithm based on Unit Vector Template (UVT) technique is used as a control strategy of UPQC for mitigation of different PQ problems. In this control scheme, the current/voltage control is applied over the fundamental supply currents/voltages instead of fast changing APFs currents/voltages, thereby reducing the computational delay. Moreover, no extra control is required for neutral source current compensation; hence the numbers of current sensors are reduced. The performance of the proposed topology of UPQC is analyzed through simulations results using MATLAB software with its Simulink and Power System Block set toolboxes.

Keywords: Power-factor correction, Load balancing, UPQC, Voltage and Current harmonics, Neutral current mitigation, Starhexagon transformer.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2327

Authors: Omid S. Fard, Akbar H. Borzabadi

Abstract:

In this paper we apply one of approaches in category of heuristic methods as Genetic Algorithms for obtaining approximate solution of optimal control problems. The firs we convert optimal control problem to a quasi Assignment Problem by defining some usual characters as defined in Genetic algorithm applications. Then we obtain approximate optimal control function as an piecewise constant function. Finally the numerical examples are given.

Keywords: Optimal control, Integer programming, Genetic algorithm, Discrete approximation, Linear programming.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1292

Authors: Abolfazl Jalilvand, Mohammad Reza Feyzi, Sohrab Khanmohammad, Mohammad Bagher Bana Sharifian, Ali Sajjadi

Abstract:

Nowadays the control of stator voltage at a constant frequency is one of the traditional and low expense methods in order to control the speed of induction motors near its nominal speed. The torque of induction motor is a nonlinear function of the firing angle, phase angle and speed. In this paper the speed control of induction motor regarding various load torque and under different conditions will be investigated based on a fuzzy controller with inverse training.

Keywords: Three phase induction motor, AC converter, speedcontrol, fuzzy control.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1795

Authors: A. Larabi, M. S. Boucherit

Abstract:

In this paper, we show that the association of the PI regulators for the speed and stator currents with a control strategy using the linearization by state feedback for an induction machine without speed sensor, and with an adaptation of the rotor resistance. The rotor speed is estimated by using the model reference adaptive system approach (MRAS). This method consists of using two models: The first is the reference model and the second is an adjustable one in which two components of the stator flux, obtained from the measurement of the currents and stator voltages are estimated. The estimated rotor speed is then obtained by canceling the difference between stator-flux of the reference model and those of the adjustable one. Satisfactory results of simulation are obtained and discussed in this paper to highlight the proposed approach.

Keywords: Asynchronous actuator, PI Regulator, adaptivemethod with reference model, Vector control.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1115

Authors: T. Mohammed Chikouche, K. Hartani

Abstract:

In order to solve the instantaneous power ripple and achieve better performance of direct power control (DPC) for a three-phase PWM rectifier, a control method is proposed in this paper. This control method is applied to overcome the instantaneous power ripple, to eliminate line current harmonics and therefore reduce the total harmonic distortion and to improve the power factor. A switching table is based on the analysis on the change of instantaneous active and reactive power, to select the optimum switching state of the three-phase PWM rectifier. The simulation result shows feasibility of this control method.

Keywords: Power quality, direct power control, power ripple, switching table, unity power factor.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1156

Authors: N. Z. Azlan, H. Yamaura

Abstract:

This paper presents the Function Approximation Technique (FAT) based adaptive impedance control for a robotic finger. The force based impedance control is developed so that the robotic finger tracks the desired force while following the reference position trajectory, under unknown environment position and uncertainties in finger parameters. The control strategy is divided into two phases, which are the free and contact phases. Force error feedback is utilized in updating the uncertain environment position during contact phase. Computer simulations results are presented to demonstrate the effectiveness of the proposed technique.

Keywords: Adaptive impedance control, force based impedance control, force control, Function Approximation Technique (FAT), unknown environment position.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1535

Authors: Bibhya Sharma, Jito Vanualailai, Jai Raj

Abstract:

This paper proposes a new obstacle and collision avoidance control laws for a three-dimensional swarm of boids. The swarm exhibit collective emergent behaviors whilst avoiding the obstacles in the workspace. While flocking, animals group up in order to do various tasks and even a greater chance of evading predators. A generalized algorithms for attraction to the centroid, inter-individual swarm avoidance and obstacle avoidance is designed in this paper. We present a set of new continuous time-invariant velocity control laws is presented which is formulated via the Lyapunov-based control scheme. The control laws proposed in this paper also ensures practical stability of the system. The effectiveness of the proposed control laws is demonstrated via computer simulations

 

Keywords: Lyapunov-based Control Scheme, Motion planning, Practical stability, Swarm.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2493

Authors: Mylena McCoggle, Shyra Wilson, Andrea Rivera, Rocio Alba-Flores, Valentin Soloiu

Abstract:

This work describes a system that uses electromyography (EMG) signals obtained from muscle sensors and an Artificial Neural Network (ANN) for signal classification and pattern recognition that is used to control a small unmanned aerial vehicle using specific arm movements. The main objective of this endeavor is the development of an intelligent interface that allows the user to control the flight of a drone beyond direct manual control. The sensor used were the MyoWare Muscle sensor which contains two EMG electrodes used to collect signals from the posterior (extensor) and anterior (flexor) forearm, and the bicep. The collection of the raw signals from each sensor was performed using an Arduino Uno. Data processing algorithms were developed with the purpose of classifying the signals generated by the arm’s muscles when performing specific movements, namely: flexing, resting, and motion of the arm. With these arm motions roll control of the drone was achieved. MATLAB software was utilized to condition the signals and prepare them for the classification. To generate the input vector for the ANN and perform the classification, the root mean square and the standard deviation were processed for the signals from each electrode. The neuromuscular information was trained using an ANN with a single 10 neurons hidden layer to categorize the four targets. The result of the classification shows that an accuracy of 97.5% was obtained. Afterwards, classification results are used to generate the appropriate control signals from the computer to the drone through a Wi-Fi network connection. These procedures were successfully tested, where the drone responded successfully in real time to the commanded inputs.

Keywords: Biosensors, electromyography, Artificial Neural Network, Arduino, drone flight control, machine learning.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 552

Authors: Yang Xiaoliang, Liu Wei, Wang Hongbo, Zhao Yunfei

Abstract:

Numerical investigation of the characteristics of an 80° delta wing in combined force-pitch and free-roll is presented. The implicit, upwind, flux-difference splitting, finite volume scheme and the second-order-accurate finite difference scheme are employed to solve the flow governing equations and Euler rigid-body dynamics equations, respectively. The characteristics of the delta wing in combined free-roll and large amplitude force-pitch is obtained numerically and shows a well agreement with experimental data qualitatively. The motion in combined force-pitch and free-roll significantly reduces the lift force and transverse stabilities of the delta wing, which is closely related to the flying safety. Investigations on sensitive factors indicate that the roll-axis moment of inertia and the structural damping have great influence on the frequency and amplitude, respectively. Moreover, the turbulence model is considered as an influencing factor in the investigation.

Keywords: combined force-pitch and free-roll, numericalsimulation, sensitive factors, slender delta wing, wing rock

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1630

Authors: Jinhua Guo

Abstract:

Designing, implementing, and debugging concurrency control algorithms in a real system is a complex, tedious, and errorprone process. Further, understanding concurrency control algorithms and distributed computations is itself a difficult task. Visualization can help with both of these problems. Thus, we have developed an exploratory environment in which people can prototype and test various versions of concurrency control algorithms, study and debug distributed computations, and view performance statistics of distributed systems. In this paper, we describe the exploratory environment and show how it can be used to explore concurrency control algorithms for the interactive steering of distributed computations.

Keywords: Consistency, Distributed Computing, InteractiveSteering, Simulation, Visualization

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1816

Authors: M. J. Park, S. H. Lee, C. H. Lee, O. M. Kwon

Abstract:

This paper studies a secondary voltage control framework of the microgrids based on the consensus for a communication network of multiagent. The proposed control is designed by the communication network with one-way links. The communication network is modeled by a directed graph. At this time, the concept of sampling is considered as the communication constraint among each distributed generator in the microgrids. To analyze the sampling effects on the secondary voltage control of the microgrids, by using Lyapunov theory and some mathematical techniques, the sufficient condition for such problem will be established regarding linear matrix inequality (LMI). Finally, some simulation results are given to illustrate the necessity of the consideration of the sampling effects on the secondary voltage control of the microgrids.

Keywords: Microgrids, secondary control, multiagent, sampling, LMI.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1449

Authors: Tomoaki Hashimoto

Abstract:

Recent technological advance has prompted significant interest in developing the control theory of quantum systems. Following the increasing interest in the control of quantum dynamics, this paper examines the control problem of Schrödinger equation because quantum dynamics is basically governed by Schrödinger equation. From the practical point of view, stochastic disturbances cannot be avoided in the implementation of control method for quantum systems. Thus, we consider here the robust stabilization problem of Schrödinger equation against stochastic disturbances. In this paper, we adopt model predictive control method in which control performance over a finite future is optimized with a performance index that has a moving initial and terminal time. The objective of this study is to derive the stability criterion for model predictive control of Schrödinger equation under stochastic disturbances.

Keywords: Optimal control, stochastic systems, quantum systems, stabilization.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2353

Authors: K. N. Dinesh Babu, G. R. Manjunatha, R. Ramaprabha, V. Rajini, M. V. Gopalan

Abstract:

In this paper, monitoring and control of tap changer mechanism of a transformer implementation in an Intelligent Electronic Device (IED) is discussed. It has been a custom for decades to provide a separate panel for on load tap changer control for monitoring the tap position. However, this facility cannot either record or transfer the information to remote control centers. As there is a technology shift towards the smart grid protection and control standards, the need for implementing remote control and monitoring has necessitated the implementation of this feature in numerical relays. This paper deals with the programming, settings and logic implementation which is applicable to both IEC 61850 compatible and non-compatible IEDs thereby eliminating the need for separate tap changer control equipment. The monitoring mechanism has been implemented in a 28MVA, 110 /6.9kV transformer with 16 tap position with GE make T60 IED at Ultratech cement limited Gulbarga, Karnataka and is in successful service.

Keywords: Transformer protection, tap changer control, tap position monitoring, on load tap changer, intelligent electronic device (IED).

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 4024

Authors: Erna T. Herdiani, Maman A. Djauhari

Abstract:

In recent years, the use of vector variance as a measure of multivariate variability has received much attention in wide range of statistics. This paper deals with a more economic measure of multivariate variability, defined as vector variance minus all duplication elements. For high dimensional data, this will increase the computational efficiency almost 50 % compared to the original vector variance. Its sampling distribution will be investigated to make its applications possible.

Keywords: Asymptotic distribution, covariance matrix, likelihood ratio test, vector variance.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1573

Authors: Ladan Maijama’a, Jibril D. Jiya, Ejike C. Anene

Abstract:

This paper presents Differential Evolution Algorithm (DEA) based Variable Structure Position Control (VSPC) of Laboratory DC servomotor (LDCSM). DEA is employed for the optimal tuning of Variable Structure Control (VSC) parameters for position control of a DC servomotor. The VSC combines the techniques of Sliding Mode Control (SMC) that gives the advantages of small overshoot, improved step response characteristics, faster dynamic response and adaptability to plant parameter variations, suppressed influences of disturbances and uncertainties in system behavior. The results of the simulation responses of the VSC parameters adjustment by DEA were performed in Matlab Version 2010a platform and yield better dynamic performance compared with the untuned VSC designed.

Keywords: Differential evolution algorithm, laboratory DC servomotor, sliding mode control, variable structure control.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1562

Authors: Hayder Natiq Jasem, Zuriati Ahmad Zukarnain, Mohamed Othman, Shamala Subramaniam

Abstract:

Congestion control is one of the fundamental issues in computer networks. Without proper congestion control mechanisms there is the possibility of inefficient utilization of resources, ultimately leading to network collapse. Hence congestion control is an effort to adapt the performance of a network to changes in the traffic load without adversely affecting users perceived utilities. AIMD (Additive Increase Multiplicative Decrease) is the best algorithm among the set of liner algorithms because it reflects good efficiency as well as good fairness. Our control model is based on the assumption of the original AIMD algorithm; we show that both efficiency and fairness of AIMD can be improved. We call our approach is New AIMD. We present experimental results with TCP that match the expectation of our theoretical analysis.

Keywords: Congestion control, Efficiency, Fairness, TCP, AIMD.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2419

Authors: Vahid Rostami, Omid sojodishijani , Saeed Ebrahimijam, Ali MohsenizanjaniNejad

Abstract:

This paper is described one of the intelligent control method in Autonomous systems, which is called fuzzy control to correct the three wheel omnidirectional robot movement while it make mistake to catch the target. Fuzzy logic is especially advantageous for problems that can not be easily represented by mathematical modeling because data is either unavailable, incomplete or the process is too complex. Such systems can be easily up grated by adding new rules to improve performance or add new features. In many cases , fuzzy control can be used to improve existing traditional controller systems by adding an extra layer of intelligence to the current control method. The fuzzy controller designed here is more accurate and flexible than the traditional controllers. The project is done at MRL middle size soccer robot team.

Keywords: Robocup , omnidirectional , fuzzy control, soccer robot , intelligent control.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1943

Authors: Arash Mir Abdolah Lavasani, Hamidreza Bayat

Abstract:

Heat transfer from two cam shape cylinder in tandem arrangement had been studied numerically. The distance between the centers of cylinders (L) is allowed to vary to change the longitudinal pitch ratio (L/Deq). The equivalent diameter of the cylinder (Deq) is 27.6 mm and longitudinal pitch ratio varies in range 2<L/Deq<6. The Reynolds number based on equivalent circular cylinder are within 50< Reeq <300. Results show that Nusselt number of second cylinder increases about 5 to 33 times when longitudinal pitch ratio increases from 2 to 6.

Keywords: Cam Shaped, tandem Cylinders, Numerical, Heat Transfer.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1555

Authors: J. Fernandez de Canete, P. Del Saz Orozco, S. Gonzalez-Perez

Abstract:

LabVIEW and SIMULINK are two most widely used graphical programming environments for designing digital signal processing and control systems. Unlike conventional text-based programming languages such as C, Cµ and MATLAB, graphical programming involves block-based code developments, allowing a more efficient mechanism to build and analyze control systems. In this paper a LabVIEW environment has been employed as a graphical user interface for monitoring the operation of a controlled distillation column, by visualizing both the closed loop performance and the user selected control conditions, while the column dynamics has been modeled under the SIMULINK environment. This tool has been applied to the PID based decoupled control of a binary distillation column. By means of such integrated environments the control designer is able to monitor and control the plant behavior and optimize the response when both, the quality improvement of distillation products and the operation efficiency tasks, are considered.

Keywords: Distillation control, software tools, SIMULINKLabVIEWinterface.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 3813

Authors: Bhupendra C. S. Chauhan, P. S. Bisht, O. P. S. Negi

Abstract:

According to celebrated Hurwitz theorem, there exists four division algebras consisting of R (real numbers), C (complex numbers), H (quaternions) and O (octonions). Keeping in view the utility of octonion variable we have tried to extend the three dimensional vector analysis to seven dimensional one. Starting with the scalar and vector product in seven dimensions, we have redefined the gradient, divergence and curl in seven dimension. It is shown that the identity n(n - 1)(n - 3)(n - 7) = 0 is satisfied only for 0, 1, 3 and 7 dimensional vectors. We have tried to write all the vector inequalities and formulas in terms of seven dimensions and it is shown that same formulas loose their meaning in seven dimensions due to non-associativity of octonions. The vector formulas are retained only if we put certain restrictions on octonions and split octonions.

Keywords: Octonions, Vector Space and seven dimensions

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1199

Authors: Guangyu Liu

Abstract:

In the last decade, energy based control theory has undergone a significant breakthrough in dealing with underactated mechanical systems with two successful and similar tools, controlled Lagrangians and controlled Hamiltanians (IDA-PBC). However, because of the complexity of these tools, successful case studies are lacking, in particular, MIMO cases. The seminal theoretical paper of controlled Lagrangians proposed by Bloch and his colleagues presented a benchmark example–a 4 d.o.f underactuated pendulum on a cart but a detailed and completed design is neglected. To compensate this ignorance, the note revisit their design idea by addressing explicit control functions for a similar device motivated by a vector thrust body hovering in the air. To the best of our knowledge, this system is the first MIMO, underactuated example that is stabilized by using energy based tools at the courtesy of the original design idea. Some observations are given based on computer simulation.

Keywords: Controlled Lagrangian, Energy Shaping, Spherical Inverted Pendulum, Controlled Hamiltonian.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1373